<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: pcl::PCLBase&lt; PointT &gt; 模板类 参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classpcl_1_1_p_c_l_base.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1_p_c_l_base-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::PCLBase&lt; PointT &gt; 模板类 参考<div class="ingroups"><a class="el" href="group__common.html">Common components</a></div></div>  </div>
</div><!--header-->
<div class="contents">

<p>PCL base class. Implements methods that are used by most PCL algorithms.  
 <a href="classpcl_1_1_p_c_l_base.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="pcl__base_8h_source.html">pcl_base.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::PCLBase&lt; PointT &gt; 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1_p_c_l_base.png" usemap="#pcl::PCLBase_3C_20PointT_20_3E_map" alt=""/>
  <map id="pcl::PCLBase_3C_20PointT_20_3E_map" name="pcl::PCLBase_3C_20PointT_20_3E_map">
<area href="classpcl_1_1_euclidean_cluster_extraction.html" alt="pcl::EuclideanClusterExtraction&lt; PointType &gt;" shape="rect" coords="509,56,1008,80"/>
<area href="classpcl_1_1_extract_polygonal_prism_data.html" alt="pcl::ExtractPolygonalPrismData&lt; PointType &gt;" shape="rect" coords="509,112,1008,136"/>
<area href="classpcl_1_1_feature.html" alt="pcl::Feature&lt; PointWithRange, BorderDescription &gt;" shape="rect" coords="509,168,1008,192"/>
<area href="classpcl_1_1_feature.html" alt="pcl::Feature&lt; PointWithRange, Narf36 &gt;" shape="rect" coords="509,224,1008,248"/>
<area href="classpcl_1_1_filter.html" alt="pcl::Filter&lt; NormalT &gt;" shape="rect" coords="509,280,1008,304"/>
<area href="classpcl_1_1_keypoint.html" alt="pcl::Keypoint&lt; PointWithRange, int &gt;" shape="rect" coords="509,336,1008,360"/>
<area href="classpcl_1_1_keypoint.html" alt="pcl::Keypoint&lt; PointT, PointT &gt;" shape="rect" coords="509,392,1008,416"/>
<area href="classpcl_1_1_organized_multi_plane_segmentation.html" alt="pcl::OrganizedMultiPlaneSegmentation&lt; pcl::PointXYZRGBA, pcl::Normal, pcl::Label &gt;" shape="rect" coords="509,448,1008,472"/>
<area href="classpcl_1_1_region_growing.html" alt="pcl::RegionGrowing&lt; PointT, pcl::Normal &gt;" shape="rect" coords="509,504,1008,528"/>
<area href="classpcl_1_1_registration.html" alt="pcl::Registration&lt; PointT, PointT &gt;" shape="rect" coords="509,560,1008,584"/>
<area href="classpcl_1_1_registration.html" alt="pcl::Registration&lt; PointT, PointT, float &gt;" shape="rect" coords="509,616,1008,640"/>
<area href="classpcl_1_1_approximate_progressive_morphological_filter.html" title="Implements the Progressive Morphological Filter for segmentation of ground points...." alt="pcl::ApproximateProgressiveMorphologicalFilter&lt; PointT &gt;" shape="rect" coords="509,672,1008,696"/>
<area href="classpcl_1_1_conditional_euclidean_clustering.html" title="ConditionalEuclideanClustering performs segmentation based on Euclidean distance and a user-defined c..." alt="pcl::ConditionalEuclideanClustering&lt; PointT &gt;" shape="rect" coords="509,728,1008,752"/>
<area href="classpcl_1_1_euclidean_cluster_extraction.html" title="EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sen..." alt="pcl::EuclideanClusterExtraction&lt; PointT &gt;" shape="rect" coords="509,784,1008,808"/>
<area href="classpcl_1_1_extract_polygonal_prism_data.html" title="ExtractPolygonalPrismData uses a set of point indices that represent a planar model,..." alt="pcl::ExtractPolygonalPrismData&lt; PointT &gt;" shape="rect" coords="509,840,1008,864"/>
<area href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface." alt="pcl::Filter&lt; PointT &gt;" shape="rect" coords="509,896,1008,920"/>
<area href="classpcl_1_1_grab_cut.html" title="Implementation of the GrabCut segmentation in &quot;GrabCut — Interactive Foreground Extraction using Iter..." alt="pcl::GrabCut&lt; PointT &gt;" shape="rect" coords="509,952,1008,976"/>
<area href="classpcl_1_1_labeled_euclidean_cluster_extraction.html" title="LabeledEuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclid..." alt="pcl::LabeledEuclideanClusterExtraction&lt; PointT &gt;" shape="rect" coords="509,1008,1008,1032"/>
<area href="classpcl_1_1_moment_of_inertia_estimation.html" title="Implements the method for extracting features based on moment of inertia. It also calculates AABB,..." alt="pcl::MomentOfInertiaEstimation&lt; PointT &gt;" shape="rect" coords="509,1064,1008,1088"/>
<area href="classpcl_1_1_morphology.html" alt="pcl::Morphology&lt; PointT &gt;" shape="rect" coords="509,1120,1008,1144"/>
<area href="classpcl_1_1_organized_connected_component_segmentation.html" title="OrganizedConnectedComponentSegmentation allows connected components to be found within organized poin..." alt="pcl::OrganizedConnectedComponentSegmentation&lt; PointT, PointLT &gt;" shape="rect" coords="509,1176,1008,1200"/>
<area href="classpcl_1_1_organized_edge_base.html" title="OrganizedEdgeBase, OrganizedEdgeFromRGB, OrganizedEdgeFromNormals, and OrganizedEdgeFromRGBNormals fi..." alt="pcl::OrganizedEdgeBase&lt; PointT, PointLT &gt;" shape="rect" coords="509,1232,1008,1256"/>
<area href="classpcl_1_1_organized_multi_plane_segmentation.html" title="OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of ..." alt="pcl::OrganizedMultiPlaneSegmentation&lt; PointT, PointNT, PointLT &gt;" shape="rect" coords="509,1288,1008,1312"/>
<area href="classpcl_1_1_p_c_a.html" alt="pcl::PCA&lt; PointT &gt;" shape="rect" coords="509,1344,1008,1368"/>
<area href="classpcl_1_1_progressive_morphological_filter.html" title="Implements the Progressive Morphological Filter for segmentation of ground points...." alt="pcl::ProgressiveMorphologicalFilter&lt; PointT &gt;" shape="rect" coords="509,1400,1008,1424"/>
<area href="classpcl_1_1_region_growing.html" title="Implements the well known Region Growing algorithm used for segmentation. Description can be found in..." alt="pcl::RegionGrowing&lt; PointT, NormalT &gt;" shape="rect" coords="509,1456,1008,1480"/>
<area href="classpcl_1_1_s_a_c_segmentation.html" title="SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models,..." alt="pcl::SACSegmentation&lt; PointT &gt;" shape="rect" coords="509,1512,1008,1536"/>
<area href="classpcl_1_1_segment_differences.html" title="SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the ..." alt="pcl::SegmentDifferences&lt; PointT &gt;" shape="rect" coords="509,1568,1008,1592"/>
<area href="classpcl_1_1_statistical_multiscale_interest_region_extraction.html" title="Class for extracting interest regions from unstructured point clouds, based on a multi scale statisti..." alt="pcl::StatisticalMultiscaleInterestRegionExtraction&lt; PointT &gt;" shape="rect" coords="509,1624,1008,1648"/>
<area href="classpcl_1_1_supervoxel_clustering.html" title="Implements a supervoxel algorithm based on voxel structure, normals, and rgb values" alt="pcl::SupervoxelClustering&lt; PointT &gt;" shape="rect" coords="509,1680,1008,1704"/>
<area href="classpcl_1_1_surfel_smoothing.html" alt="pcl::SurfelSmoothing&lt; PointT, PointNT &gt;" shape="rect" coords="509,1736,1008,1760"/>
<area href="classpcl_1_1registration_1_1_e_l_c_h.html" title="ELCH (Explicit Loop Closing Heuristic) class" alt="pcl::registration::ELCH&lt; PointT &gt;" shape="rect" coords="509,1792,1008,1816"/>
  </map>
</div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:ae2f6f6863a73337858b7a7a054eaae4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab84dd662cda89edb882fe5307b2136ea"><td class="memItemLeft" align="right" valign="top"><a id="ab84dd662cda89edb882fe5307b2136ea"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:ab84dd662cda89edb882fe5307b2136ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8326513fad0680b6993e2f1a79a6af4"><td class="memItemLeft" align="right" valign="top"><a id="ac8326513fad0680b6993e2f1a79a6af4"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:ac8326513fad0680b6993e2f1a79a6af4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae51eae0c7b3e0b7178f4894dff90660a"><td class="memItemLeft" align="right" valign="top"><a id="ae51eae0c7b3e0b7178f4894dff90660a"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
<tr class="separator:ae51eae0c7b3e0b7178f4894dff90660a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51771056fb4ab8c448a11157acbe2ee0"><td class="memItemLeft" align="right" valign="top"><a id="a51771056fb4ab8c448a11157acbe2ee0"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
<tr class="separator:a51771056fb4ab8c448a11157acbe2ee0"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:af4fbc5eb005057f8a0fc6d60bde595df"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
<tr class="separator:a7a6dd7a91275d7737cf1b18005b47244"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ad5d6846e98e59c37dcc3dc9958d53966"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
<tr class="separator:a1952d7101f3942bac3b69ed55c1ca7ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a8cd745c4f7a792212f4fc3720b9d46ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
<tr class="separator:ab219359de6eb34c9d51e2e976dd1a0d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
<tr class="separator:a436c68c74b31e4dd00000adfbb11ca7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9cc90d8364ce968566f75800d3773ca"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
<tr class="separator:af9cc90d8364ce968566f75800d3773ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
<tr class="separator:a930c7a6375fdf65ff8cfdb4eb4a6d996"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a058753dd4de73d3d0062fe2e452fba3c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acae187b37230758959572ceb1e6e2045"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:acae187b37230758959572ceb1e6e2045"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
<tr class="separator:af7335fedb0af0930b9d1dedcb54ba201"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
<tr class="separator:a09c70d8e06e3fb4f07903fe6f8d67869"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
<tr class="separator:adadb0299f144528020ed558af6879662"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::PCLBase&lt; PointT &gt;</h3>

<p>PCL base class. Implements methods that are used by most PCL algorithms. </p>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="acceb20854934f4cf77e266eb5a44d4f0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acceb20854934f4cf77e266eb5a44d4f0">&#9670;&nbsp;</a></span>initCompute()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::initCompute</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>This method should get called before starting the actual computation. </p>
<p>Internally, <a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0" title="This method should get called before starting the actual computation.">initCompute()</a> does the following:</p><ul>
<li>checks if an input dataset is given, and returns false otherwise</li>
<li>checks whether a set of input indices has been given. Returns true if yes.</li>
<li>if no input indices have been given, a fake set is created, which will be used until:<ul>
<li>either a new set is given via <a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1" title="Provide a pointer to the vector of indices that represents the input data.">setIndices()</a>, or</li>
<li>a new cloud is given that has a different set of points. This will trigger an update on the set of fake indices </li>
</ul>
</li>
</ul>
<div class="fragment"><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;{</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="comment">// Check if input was set</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="comment">// If no point indices have been given, construct a set of indices for the entire input point cloud</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <a class="code" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>.reset (<span class="keyword">new</span> std::vector&lt;int&gt;);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordflow">try</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;resize (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points.size ());</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::bad_alloc&amp;)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[initCompute] Failed to allocate %lu indices.\n&quot;</span>, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points.size ());</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size (); ++i) { (*indices_)[i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(i); }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="comment">// If we have a set of fake indices, but they do not match the number of points in the cloud, update them</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a> &amp;&amp; <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size () != <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points.size ())</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordtype">size_t</span> indices_size = <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size ();</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;resize (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points.size ());</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = indices_size; i &lt; <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size (); ++i) { (*indices_)[i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(i); }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_aaee847c8a517ebf365bad2cb182a6626"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">pcl::PCLBase::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_adadb0299f144528020ed558af6879662"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">pcl::PCLBase::fake_indices_</a></div><div class="ttdeci">bool fake_indices_</div><div class="ttdoc">If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:159</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="af7335fedb0af0930b9d1dedcb54ba201"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af7335fedb0af0930b9d1dedcb54ba201">&#9670;&nbsp;</a></span>operator[]()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::operator[] </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>pos</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Override <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> operator[] to shorten code </p>
<dl class="section note"><dt>注解</dt><dd>this method can be called instead of (*input_)[(*indices_)[pos]] or input_-&gt;points[(*indices_)[pos]] </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">pos</td><td>position in indices_ vector </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      {</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordflow">return</span> ((*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>)[(*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[pos]]);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a436c68c74b31e4dd00000adfbb11ca7c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a436c68c74b31e4dd00000adfbb11ca7c">&#9670;&nbsp;</a></span>setIndices() <span class="overload">[1/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setIndices </td>
          <td>(</td>
          <td class="paramtype">const IndicesConstPtr &amp;&#160;</td>
          <td class="paramname"><em>indices</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Provide a pointer to the vector of indices that represents the input data. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">indices</td><td>a pointer to the indices that represent the input data. </td></tr>
  </table>
  </dd>
</dl>

<p>被 <a class="el" href="classpcl_1_1_moment_of_inertia_estimation.html#ac073db4f8d28516ff2489cbd3d7ea8f9">pcl::MomentOfInertiaEstimation&lt; PointT &gt;</a> , 以及 <a class="el" href="classpcl_1_1_p_c_a.html#acb2035721451625eb16df8887864c90e">pcl::PCA&lt; PointT &gt;</a> 重载.</p>
<div class="fragment"><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;{</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>.reset (<span class="keyword">new</span> std::vector&lt;int&gt; (*indices));</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a>  = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_ada1eadb824d34ca9206a86343d9760bb"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">pcl::PCLBase::use_indices_</a></div><div class="ttdeci">bool use_indices_</div><div class="ttdoc">Set to true if point indices are used.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:156</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="ab219359de6eb34c9d51e2e976dd1a0d1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab219359de6eb34c9d51e2e976dd1a0d1">&#9670;&nbsp;</a></span>setIndices() <span class="overload">[2/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setIndices </td>
          <td>(</td>
          <td class="paramtype">const IndicesPtr &amp;&#160;</td>
          <td class="paramname"><em>indices</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Provide a pointer to the vector of indices that represents the input data. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">indices</td><td>a pointer to the indices that represent the input data. </td></tr>
  </table>
  </dd>
</dl>

<p>被 <a class="el" href="classpcl_1_1_moment_of_inertia_estimation.html#abf6953c283561f30f4339698807054b1">pcl::MomentOfInertiaEstimation&lt; PointT &gt;</a> , 以及 <a class="el" href="classpcl_1_1_p_c_a.html#a6e82eaa51d7a49ce5f2ac7bed8b1be84">pcl::PCA&lt; PointT &gt;</a> 重载.</p>
<div class="fragment"><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;{</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a> = indices;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a>  = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="af9cc90d8364ce968566f75800d3773ca"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af9cc90d8364ce968566f75800d3773ca">&#9670;&nbsp;</a></span>setIndices() <span class="overload">[3/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setIndices </td>
          <td>(</td>
          <td class="paramtype">const PointIndicesConstPtr &amp;&#160;</td>
          <td class="paramname"><em>indices</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Provide a pointer to the vector of indices that represents the input data. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">indices</td><td>a pointer to the indices that represent the input data. </td></tr>
  </table>
  </dd>
</dl>

<p>被 <a class="el" href="classpcl_1_1_moment_of_inertia_estimation.html#a93e210dc24f0ced029ff2fb7b7e2b645">pcl::MomentOfInertiaEstimation&lt; PointT &gt;</a> , 以及 <a class="el" href="classpcl_1_1_p_c_a.html#a71f16847e70728414581f5ca11bc9a0f">pcl::PCA&lt; PointT &gt;</a> 重载.</p>
<div class="fragment"><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;{</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>.reset (<span class="keyword">new</span> std::vector&lt;int&gt; (indices-&gt;indices));</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a>  = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a930c7a6375fdf65ff8cfdb4eb4a6d996"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a930c7a6375fdf65ff8cfdb4eb4a6d996">&#9670;&nbsp;</a></span>setIndices() <span class="overload">[4/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setIndices </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>row_start</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>col_start</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>nb_rows</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>nb_cols</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the indices for the points laying within an interest region of the point cloud. </p>
<dl class="section note"><dt>注解</dt><dd>you shouldn't call this method on unorganized point clouds! </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">row_start</td><td>the offset on rows </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">col_start</td><td>the offset on columns </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">nb_rows</td><td>the number of rows to be considered row_start included </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">nb_cols</td><td>the number of columns to be considered col_start included </td></tr>
  </table>
  </dd>
</dl>

<p>被 <a class="el" href="classpcl_1_1_moment_of_inertia_estimation.html#abefbf08dfcfcac1b0aa0e5b09fe92c9e">pcl::MomentOfInertiaEstimation&lt; PointT &gt;</a> , 以及 <a class="el" href="classpcl_1_1_p_c_a.html#a11e20c2e4a123230ab4796f6fda74289">pcl::PCA&lt; PointT &gt;</a> 重载.</p>
<div class="fragment"><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;{</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordflow">if</span> ((nb_rows &gt; <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;height) || (row_start &gt; <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;height))</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[PCLBase::setIndices] cloud is only %d height&quot;</span>, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;height);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordflow">if</span> ((nb_cols &gt; <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;width) || (col_start &gt; <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;width))</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[PCLBase::setIndices] cloud is only %d width&quot;</span>, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;width);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordtype">size_t</span> row_end = row_start + nb_rows;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordflow">if</span> (row_end &gt; <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;height)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[PCLBase::setIndices] %d is out of rows range %d&quot;</span>, row_end, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;height);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keywordtype">size_t</span> col_end = col_start + nb_cols;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordflow">if</span> (col_end &gt; <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;width)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[PCLBase::setIndices] %d is out of columns range %d&quot;</span>, col_end, <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;width);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>.reset (<span class="keyword">new</span> std::vector&lt;int&gt;);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;reserve (nb_cols * nb_rows);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = row_start; i &lt; row_end; i++)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> j = col_start; j &lt; col_end; j++)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((i * <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;width) + j));</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a>  = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a1952d7101f3942bac3b69ed55c1ca7ea"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1952d7101f3942bac3b69ed55c1ca7ea">&#9670;&nbsp;</a></span>setInputCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setInputCloud </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Provide a pointer to the input dataset </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the const boost shared pointer to a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message </td></tr>
  </table>
  </dd>
</dl>

<p>被 <a class="el" href="classpcl_1_1_registration.html#a6a111fe9b14dc3c65ca420b640e42de9">pcl::Registration&lt; PointSource, PointTarget, Scalar &gt;</a>, <a class="el" href="classpcl_1_1_registration.html#a6a111fe9b14dc3c65ca420b640e42de9">pcl::Registration&lt; PointSource, PointTarget, float &gt;</a>, <a class="el" href="classpcl_1_1_registration.html#a6a111fe9b14dc3c65ca420b640e42de9">pcl::Registration&lt; PointT, PointT &gt;</a>, <a class="el" href="classpcl_1_1_registration.html#a6a111fe9b14dc3c65ca420b640e42de9">pcl::Registration&lt; PointT, PointT, float &gt;</a>, <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a5b6f6dcae4eeee851931cb37c98b64d7">pcl::registration::CorrespondenceEstimationBase&lt; PointSource, PointTarget, Scalar &gt;</a>, <a class="el" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html#a5b6f6dcae4eeee851931cb37c98b64d7">pcl::registration::CorrespondenceEstimationBase&lt; PointSource, PointTarget, float &gt;</a>, <a class="el" href="classpcl_1_1_grab_cut.html#a1660eb464bfd7944de8661f4f7e90ecb">pcl::GrabCut&lt; PointT &gt;</a>, <a class="el" href="classpcl_1_1_hough3_d_grouping.html#a128db6281c9d8e0b38c6d430ef058116">pcl::Hough3DGrouping&lt; PointModelT, PointSceneT, PointModelRfT, PointSceneRfT &gt;</a>, <a class="el" href="classpcl_1_1_moment_of_inertia_estimation.html#abd6a71e7c5335c7571dec423283317a1">pcl::MomentOfInertiaEstimation&lt; PointT &gt;</a> , 以及 <a class="el" href="classpcl_1_1_p_c_a.html#aca4254c3969ff8cd2213d90cf30e95b3">pcl::PCA&lt; PointT &gt;</a> 重载.</p>
<div class="fragment"><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{ </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a> = cloud; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>common/include/pcl/<a class="el" href="pcl__base_8h_source.html">pcl_base.h</a></li>
<li>common/include/pcl/impl/<a class="el" href="pcl__base_8hpp_source.html">pcl_base.hpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
